Modelling and dynamic analysis of a two-link manipulator with both joint and link flexibilities

This paper investigates the dynamic characteristics of a two-link planar flexible manipulator with large joint angle motions. Both the links and the joints of the manipulator are considered to be very flexible. A comprehensive dynamic model for the manipulator is derived with the assumed modes approach and the Lagrangian formulation. The dynamics of the arms internal structural damping, dry friction at the joints, and backlash between driving gears are all considered. The derived dynamic equations are verified with experiments and a reasonable agreement is found. Parametric studies are conducted through numerical simulations and the effects of the parameters on the system dynamics are examined.